Functional Programming for Embedded Systems

Embedded Systems application development has traditionally been carried out in low-level machine-oriented programming languages like C or Assembler that can result in unsafe, error-prone and difficult-to-maintain code. Functional programming with features such as higher-order functions, algebraic data types, polymorphism, strong static typing and automatic memory management appears to be an ideal candidate to address the issues with low-level languages plaguing embedded systems. However, embedded systems usually run on heavily memory-constrained devices with memory in the order of hundreds of kilobytes and applications running on such devices embody the general characteristics of being (i) I/O- bound, (ii) concurrent and (iii) timing-aware. Popular functional language compilers and runtimes either do not fare well with such scarce memory resources or do not provide high-level abstractions that address all the three listed characteristics. This work attempts to address this gap by investigating and proposing high-level abstractions specialised for I/O-bound, concurrent and timing-aware embedded-systems programs. We implement the proposed abstractions on eagerly-evaluated, statically-typed functional languages running natively on microcontrollers. Our contributions are divided into two parts - Part 1 presents a functional reactive programming language - Hailstorm - that tracks side effects like I/O in its type system using a feature called resource types. Hailstorm’s programming model is illustrated on the GRiSP microcontroller board.Part 2 comprises two papers that describe the design and implementation of Synchron, a runtime API that provides a uniform message-passing framework for the handling of software messages as well as hardware interrupts. Additionally, the Synchron API supports a novel timing operator to capture the notion of time, common in embedded applications. The Synchron API is implemented as a virtual machine - SynchronVM - that is run on the NRF52 and STM32 microcontroller boards. We present programming examples that illustrate the concurrency, I/O and timing capabilities of the VM and provide various benchmarks on the response time, memory and power usage of SynchronVM

Design and implementation of an array language for computational science on a heterogeneous multicore architecture

The packing of multiple processor cores onto a single chip has become a mainstream solution to fundamental physical issues relating to the microscopic scales employed in the manufacture of semiconductor components. Multicore architectures provide lower clock speeds per core, while aggregate floating-point capability continues to increase. Heterogeneous multicore chips, such as the Cell Broadband Engine (CBE) and modern graphics chips, also address the related issue of an increasing mismatch between high processor speeds, and huge latency to main memory. Such chips tackle this memory wall by the provision of addressable caches; increased bandwidth to main memory; and fast thread context switching. An associated cost is often reduced functionality of the individual accelerator cores; and the increased complexity involved in their programming. This dissertation investigates the application of a programming language supporting the first-class use of arrays; and capable of automatically parallelising array expressions; to the heterogeneous multicore domain of the CBE, as found in the Sony PlayStation 3 (PS3). The language is a pre-existing and well-documented proper subset of Fortran, known as the ‘F’ programming language. A bespoke compiler, referred to as E , is developed to support this aim, and written in the Haskell programming language. The output of the compiler is in an extended C++ dialect known as Offload C++, which targets the PS3. A significant feature of this language is its use of multiple, statically typed, address spaces. By focusing on generic, polymorphic interfaces for both the generated and hand constructed code, a number of interesting design patterns relating to the memory locality are introduced. A suite of medium-sized (100-700 lines), real-world benchmark programs are used to evaluate the performance, correctness, and scalability of the compiler technology. Absolute speedup values, well in excess of one, are observed for all of the programs. The work ultimately demonstrates that an array language can significantly reduce the effort expended to utilise a parallel heterogeneous multicore architecture, while retaining high performance. A substantial, related advantage in using standard ‘F’ is that any Fortran compiler can create debuggable, and competitively performing serial programs

Hybrid eager and lazy evaluation for efficient compilation of Haskell

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2002.Includes bibliographical references (p. 208-220).This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.The advantage of a non-strict, purely functional language such as Haskell lies in its clean equational semantics. However, lazy implementations of Haskell fall short: they cannot express tail recursion gracefully without annotation. We describe resource-bounded hybrid evaluation, a mixture of strict and lazy evaluation, and its realization in Eager Haskell. From the programmer's perspective, Eager Haskell is simply another implementation of Haskell with the same clean equational semantics. Iteration can be expressed using tail recursion, without the need to resort to program annotations. Under hybrid evaluation, computations are ordinarily executed in program order just as in a strict functional language. When particular stack, heap, or time bounds are exceeded, suspensions are generated for all outstanding computations. These suspensions are re-started in a demand-driven fashion from the root. The Eager Haskell compiler translates Ac, the compiler's intermediate representation, to efficient C code. We use an equational semantics for Ac to develop simple correctness proofs for program transformations, and connect actions in the run-time system to steps in the hybrid evaluation strategy.(cont.) The focus of compilation is efficiency in the common case of straight-line execution; the handling of non-strictness and suspension are left to the run-time system. Several additional contributions have resulted from the implementation of hybrid evaluation. Eager Haskell is the first eager compiler to use a call stack. Our generational garbage collector uses this stack as an additional predictor of object lifetime. Objects above a stack watermark are assumed to be likely to die; we avoid promoting them. Those below are likely to remain untouched and therefore are good candidates for promotion. To avoid eagerly evaluating error checks, they are compiled into special bottom thunks, which are treated specially by the run-time system. The compiler identifies error handling code using a mixture of strictness and type information. This information is also used to avoid inlining error handlers, and to enable aggressive program transformation in the presence of error handling.by Jan-Willem Maessen.Ph.D